摘要
高精度的导航定位是潜艇研究中所面临的主要难题之一。采用GPS辅助的INS/DVL组合导航是目前潜艇的主流导航模式。当前实现GPS/INS/DVL组合导航的技术主要有航迹推算和卡尔曼滤波。本文将卡尔曼滤波技术应用于潜艇组合导航,并把EKF与传统的DR方法进行了仿真比较研究。结果表明,EKF的估计精度较高。
High-precision navigation and positioning is one of the main challenges of the submarine research.INS /DVL integrated navigation of using GPS-aided is the current mainstream in submarine navigation mode.It mainly includes dead reckoning and Kalman filtering that realize GPS/INS/DVL integrated navigation technology.In this article,the Kalman filtering technique is applied to submarine navigation,and EKF is compared with the traditional DR method on the simulation.The result indicates that the estimate precision of EKF is higher.
出处
《船电技术》
2012年第4期24-26,共3页
Marine Electric & Electronic Engineering
关键词
组合导航
卡尔曼滤波
仿真
integrated navigation
Kalman filtering
simulation
